Communication method for vehicle dispatch system, vehicle dispatch system, and communication device

ABSTRACT

A communication method for a vehicle dispatch system includes a communication apparatus configured to control communication between a first apparatus and a second apparatus. The first apparatus and the second apparatus are capable of information exchange with each other. The communication apparatus includes a processor. The processor operates to: acquire a position of a boarding point for a user and a current position of a target vehicle to be dispatched to the user; at identification timing at which a determination is made that the current position of the target vehicle belongs to a predetermined area defined with reference to the position of the boarding point, generate target vehicle information using a captured image captured by one or more cameras of the target vehicle; and transmit the target vehicle information to the second apparatus. The second apparatus operates to display the received target vehicle information on a display.

TECHNICAL FIELD

The present invention relates to a communication method in a vehicledispatch system, a vehicle dispatch system, and a communicationapparatus.

BACKGROUND ART

To specify the vehicle dispatched to a user while protecting theprivacy, a method is known which includes providing an electronicdisplay outside a door of an automated (autonomous) driving vehicle andsignaling by displaying a signal identical to the signal displayed on auser terminal (Patent Document 1).

PRIOR ART DOCUMENT

[Patent Document]

[Patent Document 1] U.S. Pat. No. 9,494,938B

SUMMARY OF INVENTION Problems to be Solved by Invention

The above method has a problem in that the cost increases because anelectronic display for the specific purpose has to be mounted to theoutside of a vehicle.

A problem to be solved by the present invention is to provide acommunication method, a vehicle dispatch system, and a communicationapparatus that allow the user to specify a vehicle dispatched to theuser without providing an electronic display outside the vehicle.

Means for Solving Problems

The present invention solves the above problem through transmittingtarget vehicle information, which is created using an image captured byan onboard camera at the timing at which a determination is made thatthe current position of a target vehicle belongs to a predetermined areadefined with reference to the position of a boarding point for a user,to a second apparatus and displaying the target vehicle information on adisplay.

Effect of Invention

According to the present invention, the user can recognize thepositional relationship between the position of the user and theposition of a target vehicle reserved by the user and can specify thetarget vehicle on which the user can board.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block configuration diagram of a vehicle dispatch systemusing a communication apparatus according to one or more embodiments ofthe present invention.

FIG. 2 is a diagram illustrating an example of the situation around aboarding point.

FIG. 3 is a diagram illustrating an example of target vehicleinformation.

FIG. 4A is a diagram illustrating a first example of an imaging area.

FIG. 4B is a diagram illustrating a second example of an imaging area.

FIG. 4C is a diagram illustrating a third example of an imaging area.

FIG. 4D is a diagram illustrating a fourth example of an imaging area.

FIG. 4E is a diagram illustrating a fifth example of an imaging area.

FIG. 4F is a diagram illustrating a sixth example of an imaging area.

FIG. 5A is a first diagram for describing an overhead image.

FIG. 5B is a second diagram for describing an overhead image.

FIG. 6A is a first diagram for describing a panoramic image.

FIG. 6B is a second diagram for describing a panoramic image.

FIG. 6C is a third diagram for describing a panoramic image.

FIG. 7A is a first diagram for describing a three-dimensional projectionimage.

FIG. 7B is a second diagram for describing a three-dimensionalprojection image.

FIG. 8 is a chart illustrating an example of a control procedure forexchange of information between a target vehicle and a user terminalapparatus.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, one or more embodiments of the present invention will bedescribed with reference to the drawings. The embodiments will bedescribed by exemplifying a case in which the communicationmethod/apparatus according to the present invention is applied to avehicle dispatch system. The control process for communication in one ormore embodiments of the present invention refers to control regardingexchange of information. The control process for communication includesany one or more of a communication control process, a control processfor the timing of transmitting/receiving, and a process of specifyingtransmitted/received information.

FIG. 1 is a diagram illustrating the block configuration of a vehicledispatch system 1. The vehicle dispatch system 1 according to one ormore embodiments of the present invention is equipped in a vehicle andincludes a communication apparatus 100, a vehicle control apparatus 200,and a user terminal apparatus 300. In the vehicle dispatch system 1, thevehicle control apparatus 200 is a first apparatus, and the userterminal apparatus 300 is a second apparatus. Each apparatus includes aprocessor (computer) that executes a calculation process and acommunication device.

In the vehicle dispatch system 1, the first apparatus (vehicle controlapparatus 200) and the second apparatus (user terminal apparatus 300),which is carried by a user, perform communication by exchange ofinformation. The communication apparatus 100 controls the communication(exchange of information) between the first apparatus (vehicle controlapparatus 200) and the second apparatus (user terminal apparatus 300).

The communication method according to the present invention is carriedout by the communication apparatus 100. In FIG. 1, the communicationapparatus 100 will be described as an apparatus that is configuredindependently of the vehicle control apparatus 200 and the user terminalapparatus 300. The communication apparatus 100 is configured on anetwork through which communication is possible with the vehicle controlapparatus 200 and the user terminal apparatus 300.

The communication apparatus 100 is not limited in its form. Thecommunication apparatus 100 can be incorporated in the vehicle controlapparatus 200. The communication apparatus 100 can also be incorporatedin the user terminal apparatus 300.

The communication apparatus 100 has a communication function to performcommunication with the vehicle control apparatus 200 and the userterminal apparatus 300, and these apparatuses 100, 200, and 300 exchangeinformation with one another via wire communication or wirelesscommunication. The vehicle control apparatus 200 as the first apparatusincludes at least one or more cameras 51. Each camera 51 is providedwith a control device that receives an electronic command and operatesthe camera 51 on the basis of the electronic command. The cameras 51execute an imaging operation in accordance with the electronic command.The electronic command is generated by the communication apparatus 100and input to the cameras 51 via a communication device 40 of the vehiclecontrol apparatus 200. The electronic command includes identificationinformation of a plurality of cameras 51. Among the plurality of cameras51, specific one or more cameras 51 can be controlled by the electroniccommand to execute the imaging operation. Each camera 51 may include awide-angle lens. A detection device 50 is provided, which can cut out acaptured image of a certain area including a predetermined imagingdirection from the image captured by each camera 51. Each camera 51 maybe provided with a driving device that changes the imaging direction.When the imaging direction of the camera 51 is set to a predetermineddirection, the captured image can be obtained in the predetermineddirection.

The user terminal apparatus 300 as the second apparatus includes atleast a display 331. The display 331 is provided with a control devicethat receives an electronic command and operates the display 331 on thebasis of the electronic command. The display 331 is a touch panel-typedisplay that has both an output (display) function and an inputreception function. The display 331 executes an operation of presentingtarget vehicle information, which will be described later, in accordancewith the electronic command. The electronic command is generated by thecommunication apparatus 100 and input to the display 331 via acommunication device 320 of the user terminal apparatus 300.

The vehicle control apparatus 200 according to one or more embodimentsof the present invention controls the vehicle to execute autonomoustraveling. Although not particularly limited, the vehicle controlapparatus 200 recognizes a lane in which a target vehicle V1 istraveling, and controls the movement of the target vehicle V1 so thatthe position of a lane marker of the lane and the position of the targetvehicle V1 maintain a predetermined relationship. The vehicle controlapparatus 200 controls the movement of the target vehicle V1 so that thedistance along the road width direction from a lane marker of a lane forvehicles to travel to the target vehicle V1 (i.e., the lateral positionof the target vehicle V1) falls within a predetermined value range. Thelane marker is not limited, provided that it has a function of defininga lane. Examples of the lane marker may include line figures drawn on aroad surface, luminous bodies embedded in a road, plants existingbetween lanes, and road structures existing on the road shoulder side ofa lane, such as guardrails, curbstones, sidewalks, and exclusive roadsfor two wheels. Examples of the lane marker may further include fixedphysical bodies existing on the road shoulder side of a lane, such asadvertising displays, signs, stores, and roadside trees.

As illustrated in FIG. 1, the vehicle control apparatus 200 according toone or more embodiments of the present invention includes thecommunication device 40, the detection device 50, a sensor 60, a vehiclecontroller 70, a driving device 80, a steering device 90, an outputdevice 110, and a navigation device 120. These devices which constitutethe vehicle control apparatus 200 are connected to one another via acontroller area network (CAN) or other onboard LAN to mutually exchangeinformation.

The detection device 50 detects the situation around the target vehicleV1. The detection device 50 detects the existence and location of atarget object existing around the target vehicle V1. Although notparticularly limited, the detection device 50 according to one or moreembodiments of the present invention includes at least one camera 51.The camera 51 may be an infrared camera or a stereo camera. The camera51 according to one or more embodiments of the present invention is, forexample, an imaging device including an imaging element such as a CCD ora CMOS. The camera 51 is installed at a predetermined position of thetarget vehicle V1 and captures images of target objects around thetarget vehicle V1. The term “around the target vehicle” as used hereinencompasses the concepts of “ahead of the target vehicle V1,” “behindthe target vehicle V1,” “sideways ahead of the target vehicle V1,” and“sideways behind the target vehicle V1.” The camera 51 may be providedwith a driving device that changes the imaging direction. The drivingdevice controls the imaging direction of the camera 51. The imagecaptured by the camera 51 provided with the driving device is associatedwith information on the imaging direction. Target objects to be imagedby the camera 51 include stationary physical bodies such as signs andmoving physical bodies such as pedestrians and other vehicles. The signsinclude two-dimensional signs painted on a road surface andthree-dimensional signs such as advertising displays.

When a plurality of cameras 51 is arranged, each camera 51 is associatedwith its identification information. The identification informationincludes the arranged position and imaging area of each camera 51. Eachcamera 51 adds its identification information to the captured image andoutputs the captured image with the identification information.

The detection device 50 may analyze the image data to identify the typeof a target object on the basis of the analysis result. The detectiondevice 50 uses a pattern matching technique or the like to identifywhether or not the target object included in the image data is avehicle, a pedestrian (person), or a sign. Additionally oralternatively, the detection device 50 can extract the image of a targetobject from the image data and identify a specific type of the targetobject (such as a four-wheel vehicle, a two-wheel vehicle, a bus, atruck, or a construction vehicle), a vehicle type (small car, largecar), and a special-purpose vehicle (such as an emergency car) from thesize and/or shape of the image. The detection device 50 can identify theattribute of a lane, such as whether the travel lane for the targetvehicle V1 is a lane for traveling straight ahead, a lane for turningright or left, or a merging lane, from the shape of a lane marker. Thedetection device 50 can determine an available stop position or anevacuation lane from the indication of a sign and recognize the state ofa stop position for the target vehicle V1.

The detection device 50 preliminarily stores features (appearancefeatures) on an image of the face of a user, which are acquired from thecommunication apparatus 100, and uses a pattern matching technique todetermine a degree of coincidence with the features on the image of atarget object detected as a pedestrian (person). When the degree ofcoincidence is a predetermined value or more, the detection device 50determines that the detected target object is a pedestrian and is a userwho has reserved the use of the target vehicle V1. The scheme ofextracting a target object from the image data and the scheme ofextracting the features of the face image of a target object are notparticularly limited, and schemes known at the time of filing thepresent application can be used as appropriate.

The detection device 50 processes the acquired image data to acquire thedistance from the target vehicle V1 to a target object existing aroundthe target vehicle V1 and/or the direction in which the target objectexists with respect to the target vehicle V1, on the basis of theposition of the target object. Schemes known at the time of filing thepresent application can be appropriately used for a process of derivingtravel scene information based on the image data.

Additionally or alternatively, the detection device 50 according to oneor more embodiments of the present invention may use a radar device 52.Examples of the radar device 52 may be those, such as millimeter-waveradar, laser radar, and ultrasonic radar, which are known at the time offiling the present application. The detection device 50 processes theacquired measurement data to acquire the distance from the targetvehicle V1 to a target object existing around the target vehicle V1and/or the direction in which the target object exists with respect tothe target vehicle V1, on the basis of the position of the targetobject. Schemes known at the time of filing the present application canbe appropriately used for a process of deriving travel scene informationbased on the measurement data.

The sensor 60 according to one or more embodiments of the presentinvention includes a steering angle sensor 61 and a vehicle speed sensor62. The steering angle sensor 61 detects a traveling direction based onsteering information regarding the steering, such as the steeringamount, steering speed, and steering acceleration of the target vehicleV1, and transmits the detected traveling direction to the communicationapparatus 100 via the vehicle controller 70 and the communication device40. The vehicle speed sensor 62 detects a traveling speed (includingzero when stopping) based on the traveling direction of the targetvehicle V1, the vehicle speed/acceleration of the target vehicle V1,etc. and transmits the detected traveling speed to the communicationapparatus 100 via the vehicle controller 70 and the communication device40.

The vehicle controller 70 according to one or more embodiments of thepresent invention is an onboard computer such as an engine control unit(ECU) and electronically controls the driving state of the vehicle. Thevehicle according to one or more embodiments of the present inventionmay be, for example, an electric car having an electric motor as thetraveling drive source, an engine car having an internal-combustionengine as the traveling drive source, or a hybrid car having both anelectric motor and an internal combustion engine as the traveling drivesources. Examples of the electric car or hybrid car having an electricmotor as the traveling drive source include a type in which the powersource for the electric motor is a secondary battery and a type in whichthe power source for the electric motor is a fuel cell.

The driving device 80 according to one or more embodiments of thepresent invention includes a drive mechanism of the target vehicle V1.The drive mechanism includes an electric motor and/or aninternal-combustion engine as the above-described traveling drivesources, a power transmission device including a drive shaft and anautomatic transmission that transmit the output of the traveling drivesources to the drive wheels, and a braking device 81 that brakes thewheels. The driving device 80 generates respective control signals forthese components of the drive mechanism and executes the travel controlincluding acceleration/deceleration of the vehicle. These controlsignals for the drive mechanism are generated based on input signals byan accelerator operation and a brake operation and control signalsacquired from the vehicle controller 70 or the communication apparatus100. Control information may be transmitted to the driving device 80,which can thereby perform the travel control includingacceleration/deceleration of the vehicle in an automated or autonomousmanner. In the case of a hybrid car, the driving device 80 may receive aratio of the torque output to the electric motor and the torque outputto the internal-combustion engine in accordance with the traveling stateof the vehicle.

The steering device 90 according to one or more embodiments of thepresent invention includes a steering actuator. The steering actuatorincludes a motor and other necessary components attached to the steeringcolumn shaft. The steering device 90 executes the control of changingthe traveling direction of the vehicle on the basis of a control signalacquired from the vehicle controller 70 or an input signal by thesteering operation. The vehicle controller 70 transmits the controlinformation including the steering amount to the steering device 90thereby to execute the control of changing the traveling direction. Thevehicle controller 70 includes one or more processors 71 that executethe process of automated driving (autonomous traveling).

The navigation device 120 according to one or more embodiments of thepresent invention sets a route from the current position of the targetvehicle V1 to a destination and outputs the route information to thevehicle controller 70 via the output device 110, which will be describedlater. The navigation device 120 includes a position detection device121 and has road information 122 on the road type, road width, roadshape, and others and map information 123 in which the road information122 is associated with each point. The map information 123 includesfacility information 124 associated with the road information 122. Thefacility information 124 includes the attribute of a facility and theposition of the facility. The facility information 124 includesinformation on a so-called point of interest (POI). The positiondetection device 121 according to one or more embodiments of the presentinvention is responsible to the global positioning system (GPS) anddetects the traveling position (altitude/longitude) of the vehicle whichis traveling. On the basis of the current position of the target vehicleV1 detected by the position detection device 121, the navigation device120 specifies the route along which the target vehicle V1 travels and aroad link. The road information 122 according to one or more embodimentsof the present invention is stored such than the information on theposition of an intersection, the traveling direction in theintersection, and the type of the intersection and other information onthe intersection are associated with identification information of eachroad link. The navigation device 120 sequentially transmits the currentposition of the target vehicle V1 detected by the position detectiondevice 121 to the communication apparatus 100 at a predetermined cycle.

The output device 110 according to one or more embodiments of thepresent invention outputs information on the travel control based on adriving action. As the information corresponding to the controlinformation for controlling the target vehicle V1 to travel along thetarget route, the information that the steering operation and/oracceleration/deceleration are to be executed is preliminarily announcedto occupants of the target vehicle V1 or occupants of other vehicles viaa display 111, a speaker 112, vehicle exterior lamps, and/or vehicleinterior lamps. Additionally or alternatively, the output device 110according to one or more embodiments of the present invention may outputvarious information items regarding the travel assistance to an externaldevice of the intelligent transport system (ITS) or the like via thecommunication device 40. The external device of the intelligenttransport system or the like uses the information on the travelassistance, which includes the vehicle speed, steering information,travel route, etc., for the traffic management of a plurality ofvehicles. When recognizing the output information, occupants of thetarget vehicle V1 and/or occupants of other vehicles can act in responseto the behavior of the target vehicle V1 for which the travel control isperformed.

The user terminal apparatus 300 will be described. The user terminalapparatus 300 is carried by the user who has reserved the use of thetarget vehicle. The user terminal apparatus 300 is a small computer,such as a personal digital assistant (PDA) or a smartphone, which can becarried by the user.

As illustrated in FIG. 1, the user terminal apparatus 300 includes aprocessor 310, the communication device 320, and an input/output device330. The user terminal apparatus 300 exchanges information with thevehicle control apparatus 200 and/or the communication apparatus 100 viathe communication device 320. The user terminal apparatus 300 may beformed integrally with the communication apparatus 100.

The input/output device 330 includes the display 331 and a speaker 332.The processor 310 of the second apparatus (user terminal apparatus 300)displays the received target vehicle information, which is transmittedfrom the vehicle control apparatus 200, on the display 331. The display331 is a touch panel-type display. The display 331 receives the input ofregistration information from the user, reservation information from theuser, and other information. The registration information includespersonal information such as the name of a user and the photograph ofthe user's face. The reservation information includes identificationinformation of a user, reservation date and time, identificationinformation of a reserved target vehicle, information on a boardingpoint from which the use of the target vehicle is started, informationon the use time, etc. The reservation information is transmitted to thecommunication apparatus 100. In this example, the input/output device330 is exemplified as being provided in the second apparatus, but theinput/output device 330 may be configured as different hardware than thesecond apparatus. The processor 310 of the second apparatus (userterminal apparatus 300) transmits an instruction for displaying thereceived target vehicle information, which is transmitted from thevehicle control apparatus 200, to the display 331 via some communicationand causes the display 331 to execute the display process.

The communication apparatus 100 according to one or more embodiments ofthe present invention will be described below.

As illustrated in FIG. 1, the communication apparatus 100 according toone or more embodiments of the present invention includes a processor10, a communication device 20, and an output device 30. Thecommunication device 20 exchanges information with the vehicle controlapparatus 200 and/or the user terminal apparatus 300. The output device30 has a similar function to that of the previously described outputdevice 110 of the vehicle control apparatus 200. The output device 110of the vehicle control apparatus 200 may be used as the output device30.

The processor 10 of the communication apparatus 100 is a computerincluding a read only memory (ROM) 12 that stores programs for executingthe travel control of the target vehicle V1, a central processing unit(CPU) 11 as an operation circuit that executes the programs stored inthe ROM 12 to serve as the communication apparatus 100, and a randomaccess memory (RAM) 13 that serves as an accessible storage device.

The processor 10 of the communication apparatus 100 according to one ormore embodiments of the present invention has an information acquisitionfunction, an information generation function, and an output function.The processor 10 according to one or more embodiments of the presentinvention executes each function by cooperation of software forachieving the above functions and the above-described hardware.

The communication apparatus 100 includes a boarding point acquisitionunit configured to acquire the position of a boarding point for a user,a vehicle information acquisition unit configured to acquire the currentposition of the target vehicle to be dispatched to the user and acaptured image captured by one or more cameras of the target vehicle, atarget vehicle information generation unit configured to generate targetvehicle information using the captured image at identification timing atwhich a determination is made that the current position of the targetvehicle belongs to a predetermined area defined with reference to theposition of the boarding point, and a communication control unitconfigured to perform control so as to transmit the target vehicleinformation to the user terminal.

The boarding point acquisition unit and vehicle information acquisitionunit of the processor 10 achieve a function of acquiring information.The target vehicle information generation unit of the processor 10achieves a function of generating information. The communication controlunit of the processor 10 achieves an output function of controlling theoutput.

Each function of the communication apparatus 100 according to one ormore embodiments of the present invention will be described below.

The processor 10 acquires information that reflects a situation aroundthe target vehicle V1 via the communication device 320. The processor 10acquires one or more captured images and/or detection information fromthe detection device 50. The processor 10 acquires position informationdetected by the navigation device 120.

The processor 10 acquires the position of the boarding point at whichthe user boards the target vehicle reserved by the user. The processor10 acquires information including the current position of the targetvehicle on which the user is to board (for which the user has reservedboarding). The position of the target vehicle is detected by theposition detection device 121 of the navigation device 120. Informationon the target vehicle includes the vehicle speed and acceleration of thetarget vehicle. The processor 10 acquires the speed of the targetvehicle from the vehicle speed sensor 62. The speed of the targetvehicle can be calculated based on a temporal change in the position ofthe target vehicle. The acceleration of the target vehicle can becalculated from the speed of the target vehicle. Information on thetarget vehicle includes the position of the target vehicle at a futuretime obtained from the current position and vehicle speed of the targetvehicle V1. The timing of arriving at the boarding point which is thedestination can be estimated from the current position, speed, and thelike of the target vehicle. On the basis of the position of the targetvehicle at a future time, the positional relationship between the targetvehicle and the user or facility at the future time can be obtained.

FIG. 2 illustrates an example of a scene in which the target vehicle V1travels to a boarding point PP. In the scene illustrated in FIG. 2, thetarget vehicle V1 travels to an intersection CP, turns left at theintersection CP, and travels to the boarding point PP which is set in anevacuation area. A station ST exists ahead of the boarding point PP. Astore SP exists on the left side ahead of the boarding point PP. A userUM is moving toward the boarding point PP from the store SP locatedbehind.

The processor 10 acquires the boarding point PP included in thereservation information which is input by the user UM. The processor 10sets a predetermined area R1 with reference to the position of theboarding point PP which is designated by the user UM. The processor 10determines, as identification timing, the timing at which adetermination is made that the current position of the target vehicle V1belongs to the predetermined area R1. Whether or not the currentposition of the target vehicle V1 belongs to the predetermined area R1may be determined based on whether or not a predetermined position ofthe target vehicle V1 belongs to the predetermined area R1 or may alsobe determined based on whether or not a part or all of the targetvehicle V1 belongs to the predetermined area R1. The processor 10generates the target vehicle information at the identification timing.The processor 10 generates the target vehicle information using acaptured image GF captured by one or more cameras 51 of the targetvehicle V1. The identification timing is the timing at which the targetvehicle V1 (reserved vehicle) belongs to the predetermined area R1 withreference to the boarding point PP for the user UM, and this timing istherefore the timing at which the user UM who expects to use the targetvehicle V1 becomes aware of the location of the target vehicle V1. Atthis timing, the processor 10 generates the target vehicle informationusing the captured image GF indicating the situation around the targetvehicle V1. The processor 10 transmits the target vehicle information,which is generated at the identification timing, to the user terminalapparatus 300 which is the second apparatus. The user terminal apparatus300 displays the target vehicle information on the display 331, and theuser UM can therefore recognize the target vehicle information at thetiming at which the user UM desires to confirm the location of thetarget vehicle V1. The target vehicle information in this case includesthe captured image GF indicating the situation around the target vehicleV1 at that timing.

The processor 10 generates the target vehicle information at theidentification timing at which a determination is made that the currentposition of the target vehicle V1 belongs to the predetermined area R1which is a range of a predetermined distance D1 from the boarding pointPP. The identification timing is set to the timing at which the targetvehicle V1 enters the range of the predetermined distance D1 from theboarding point PP, and the user UM can therefore recognize the targetvehicle information GM at the timing at which the target vehicle V1approaches the boarding point PP, the reservation time is getting close,and the user UM desires to confirm the location of the target vehicleV1. The target vehicle information GM in this case includes the capturedimage GF indicating the surrounding situation at that timing.

The processor 10 generates the target vehicle information at theidentification timing at which a determination is made that the currentposition of the target vehicle V1 belongs to a predetermined area R2that is a range to which a passing point AP at the intersection CPclosest to the boarding point PP belongs. The route for the targetvehicle V1 is calculated by the navigation device 120. The navigationdevice 120 refers to the map information 123 and the road information122 and can extract the intersection CP (intersection CP closest to theboarding point PP) through which the target vehicle V1 traveling alongthe route finally passes before reaching the boarding point PP. Theinformation on the intersection CP is transmitted to the communicationapparatus 100. The target vehicle information is generated andtransmitted at the timing of passing through the intersection CP closestto the boarding point PP, and the user UM can therefore confirm thetarget vehicle information GM at the timing at which the user UM desiresto confirm the location of the target vehicle V1. The target vehicleinformation GM in this case includes the captured image GF indicatingthe surrounding situation at that timing.

The processor 10 generates the target vehicle information GM at theidentification timing at which the request for the target vehicleinformation GM is received from the user UM. The timing at which theuser UM requests the target vehicle information GM is the timing atwhich the user UM desires to positively confirm the location/situationof the target vehicle V1. If the location/situation of the targetvehicle V1 cannot be confirmed when the user UM comes close to thevicinity of the boarding point PP, or if the user UM may delay in thearrival at the boarding point PP, the user UM can confirm thelocation/situation of the target vehicle V1. The processor 10 generatesthe target vehicle information GM in response to the request from theuser UM and presents the target vehicle information GM to the user UM.The user UM can confirm the target vehicle information GM at the timingat which the user UM desires to confirm the location of the targetvehicle V1. The target vehicle information GM in this case includes thecaptured image GF indicating the surrounding situation at that timing.

FIG. 3 illustrates an example of the target vehicle information GMgenerated using the captured image GF captured ahead of the targetvehicle V1. The target vehicle information GM further includes travelingdirection information DF that indicates the traveling direction of thetarget vehicle V1. The traveling direction information DF may berepresented by a graphic indicating a direction, such as an arrow or atriangle.

As illustrated in FIG. 4A, the processor 10 generates the target vehicleinformation GM including the captured image GF in the travelingdirection of the target vehicle V1. The imaging direction in an imagingarea Q1 is common to the traveling direction. The processor 10 transmitsa command to acquire and transmit the captured image GF in the travelingdirection to the vehicle control apparatus 200. As illustrated in FIG.4B, at the point at which the vehicle has passed through the lastintersection CP (intersection CP closest to the boarding point PP)before reaching the boarding point PP, the target vehicle information GMincluding the captured image GF in the traveling direction of the targetvehicle V1 is generated. The imaging direction in the imaging area Q1 iscommon to the traveling direction.

The station ST exists in the traveling direction of the target vehicleV1 illustrated in FIG. 4B. The captured image GF in the travelingdirection of the target vehicle V1 includes an image of the station ST(see FIG. 3). The target vehicle information GM generated at this timingincludes the captured image GF of the station ST. The user UM who hasdesignated the boarding point PP may have already recognized thesituation around the boarding point PP. The user UM who has found thetarget vehicle information GM can estimate the traveling direction ofthe target vehicle V1. On the basis of the traveling direction of thetarget vehicle V1, a determination can be made as to from whichdirection the target vehicle V1 approaches the boarding point PP. Thisallows the user UM to specify the target vehicle V1 on which the user UMcan board.

As illustrated in FIG. 4C, the processor 10 generates the target vehicleinformation GM using the captured image GF captured in the direction inwhich the boarding point PP is located with respect to the targetvehicle V1. In this case, the traveling direction of the target vehicleV1 and the imaging direction are different. The imaging direction is adirection toward the boarding point PP. The boarding point PP may beincluded in an imaging area Q3. The moving target vehicle V1 approachesthe boarding point PP. The boarding point PP is a point designated bythe user UM, and the user UM is also moving toward the boarding pointPP. The user UM who has found the captured image GF in the directiontoward the boarding point PP can determine from which direction thetarget vehicle V1 approaches the boarding point PP. This allows the userUM to specify the target vehicle V1 on which the user UM can board.

The processor 10 transmits a command to capture the image of a facilitylocated around the boarding point PP to the vehicle control apparatus200. The processor 10 refers to the facility information 124 included inthe map information 123 to search for a facility existing in thevicinity of the boarding point PP and creates the target vehicleinformation GM using the captured image GF in the direction in which thefacility is located with respect to the target vehicle V1. The processor10 transmits an instruction including information for specifying thefacility located around the boarding point PP to the vehicle controlapparatus 200 or may also refer to the map information 123 and thefacility information 124 and transmit an instruction including theimaging direction, which is a direction in which the facility existswith respect to the target vehicle V1, to the vehicle control apparatus200. For example, as illustrated in FIG. 4D, an instruction to capturethe captured image GF including the image of the shop SP located aheadon the left may be transmitted to the vehicle control apparatus 200. Theimaging direction in an imaging area Q4 is the direction in which theshop SP exists when viewed from the target vehicle V1. The imaging areaQ4 includes the shop SP. The position of the shop SP can be determinedwith reference to the facility information 124 of the navigation device120. The user UM who has designated the boarding point PP may havealready known facilities around the boarding point PP. When confirmingthe facilities included in the target vehicle information GM, the userUM can estimate the traveling direction of the target vehicle V1. On thebasis of the traveling direction of the target vehicle V1, the user UMcan estimate from which direction the target vehicle V1 approaches theboarding point PP. This allows the user UM to specify the target vehicleV1 which the user UM has reserved.

When the target vehicle V1 is traveling, the processor 10 generates thetarget vehicle information GM including the captured image GF in thetraveling direction of the target vehicle V1, while when the targetvehicle V1 makes a stop in the vicinity of the boarding point PP, theprocessor 10 generates the target vehicle information GM including thecaptured image GF in the right or left direction in which the user UMboards and/or alights. The captured image GF on the left or right sideof the target vehicle V1 located at the boarding point PP is an imagecaptured behind the user UM who is approaching the target vehicle V1.The user UM can specify the target vehicle V1 by comparing the situationbehind the user UM with the target vehicle information GM.

The processor 10 generates the target vehicle information GM using thecaptured image GF including the image of a physical body. When thecaptured image GF includes the image of a physical body, such as anothervehicle, a pedestrian, or a bicycle, which the target vehicle V1approaching the boarding point PP passes each other, the target vehicleV1 can be specified based on the positional relationship between thetarget vehicle V1 and the physical body. In particular, when thephysical body is a moving body, the positional relationship between themoving body (physical body) and the target vehicle V1 is limited in thetiming, and the target vehicle V1 can therefore be specified based onthe captured image GF of the moving body (physical body).

As illustrated in FIG. 4E, the processor 10 generates the target vehicleinformation GM using the captured image GF captured in a direction inwhich the user UM is located with respect to the target vehicle V1. Theimaging direction in an imaging area Q5 is a direction in which the userUM is located. The imaging area Q5 includes the user UM. The processor10 acquires the position information detected by the position detectiondevice of the user terminal apparatus 300 as the position of the userUM. It is highly possible that the captured image GF in the direction inwhich the user UM is located includes an image of the user UM. The userUM can determine the traveling direction of the target vehicle V1 withreference to the captured image GF including the image of the user UMand can specify the target vehicle V1.

The processor 10 acquires a face image of the user UM and generate thetarget vehicle information GM using the captured image GF including animage having a predetermined degree of coincidence with the face imageof the user UM. As illustrated in FIG. 4E, the imaging direction in theimaging area Q5 is a direction in which the face of the user UM islocated. The imaging area Q5 includes the face of the user UM. Theprocessor 10 makes matching between the features of face information,which is preliminarily registered by the user, and the features of aperson's face included in the captured image GF to determine thelocation of the user UM. The target vehicle information GM is generatedusing the captured image GF including an image of the face of the userUM. The traveling direction of the target vehicle V1 can be determinedwith reference to the captured image GF including the face of the userUM, and the target vehicle V1 can be specified.

The processor 10 generates the target vehicle information GM includingthe imaging direction. The target vehicle information GM includesimaging direction information DS indicating the imaging direction. Thedisplay form of the imaging direction information DS is similar to thatof the traveling direction information DF illustrated in FIG. 3, and theimaging direction information DS may be represented by a graphicindicating a direction, such as an arrow or a triangle. In the exampleillustrated in FIG. 3, the traveling direction and the imaging directionare common, but the imaging direction may be a different direction thanthe traveling direction. The imaging direction may be a direction inwhich a facility exists or a direction in which the user UM is located.The target vehicle information GM includes the imaging directioninformation DS indicating the imaging direction with reference to thetarget vehicle V1; therefore, the user UM can determine the imagingdirection of the onboard camera or cameras 51 and can specify the targetvehicle V1 with reference to the target vehicle information GM in whichthe captured image GF is used.

When the target vehicle V1 makes a stop in the vicinity of the boardingpoint PP, the processor 10 generates the target vehicle information GMincluding the captured image GF in the right or left direction in whichthe user UM boards and/or alights. In the example illustrated in FIG.4F, the left-side direction is set as the imaging direction, and thecaptured image GF of an imaging area Q6 is acquired. When adetermination is made that the target vehicle V1 arrives at the boardingpoint PP, the target vehicle V1 makes a stop in the vicinity of theboarding point PP. The processor 10 determines this timing as theidentification timing. The direction in which the user UM boards and/oralights is a direction on the road shoulder side. The processor 10refers to the road information 122 and the map information 123 todetermine whether the road shoulder side is the right or left side of alane in which the target vehicle V1 travels. The roadside refers to aside on which lanes in the same direction are not adjacent to eachother. Regarding the captured image GF in the right or left direction,the arrangement of the cameras 51 with respect to the vehicle ispreliminarily stored in the processor 10 or the vehicle controller 70.When acquiring the captured image GF in the right direction, theprocessor 10 causes the right camera 51 of the target vehicle V1 toexecute an imaging instruction. When acquiring the captured image GF inthe left direction, the processor 10 causes the left camera 51 of thetarget vehicle V1 to execute an imaging instruction.

The form of the target vehicle information GM according to one or moreembodiments of the present invention is not limited.

The processor 10 generates the target vehicle information GM includingan overhead image obtained by combining the captured images GF capturedby a plurality of cameras 51 of the target vehicle V1. The overheadimage is an image in which the captured images GF captured by theplurality of cameras 51 arranged at respective positions of the front,rear, right, and left of the vehicle are connected and the roof of thetarget vehicle V1 is viewed from a virtual viewpoint above. The overheadimage includes screen images of the entire circumferential area aroundthe target vehicle V1. The user UM can recognize the situation aroundthe target vehicle V1 with reference to the target vehicle informationGM including the overhead image.

For example, as illustrated in FIG. 5A, camera 51 a installed at apredetermined position in front of the target vehicle V1, such as thefront grill portion, captures the image of a front area SP1 and a spacelocated ahead of the area SP1. The captured image GF (front view) of aspace including the area SP1 is obtained. Camera 51 b installed at apredetermined position on the left side of the target vehicle V1, suchas a left-side mirror portion, captures the image of a left-side areaSP2 and a space around the area SP2. The captured image GF (left-sideview) of a space including the area SP2 is obtained. Camera 51 cinstalled at a predetermined position of the rear portion of the targetvehicle V1, such as a rear finisher portion or a roof spoiler portion,captures the image of an area SP3 behind the target vehicle V1 and aspace behind the area SP3. The captured image GF (rear view) of a spaceincluding the area SP3 is obtained. Camera 51 d installed at apredetermined position on the right side of the target vehicle V1, suchas a right-side mirror portion, captures the image of an area SP4 on theright side of the target vehicle V1 and a space around the area SP4. Thecaptured image GF (right side view) of a space including the area SP4 isobtained. FIG. 5B is a diagram illustrating the arrangement of thecameras 51 a to 51 d and the top surface (roof) of the target vehicle V1viewed from a virtual viewpoint OP that is set above the areas SP1 toSP4. As illustrated in FIG. 5B, the front view, left-side view, rearview, and right-side view are converted into common plane coordinates(X-Y coordinates), and one surrounding monitoring image is createdthrough combining the overlapping portions and correcting the imagedistortion in the overlapping portions.

The processor 10 generates the target vehicle information GM including apanoramic image obtained by combining the captured images GF captured bya plurality of cameras 51 of the target vehicle V1. The panoramic imageis an image in which the captured images GF captured by the plurality ofcameras 51 arranged at respective positions of the front, rear, right,and left of the vehicle are connected and projected to coordinates thatare set to surround the circumference of the vehicle. The panoramicimage includes screen images of the entire circumferential area aroundthe target vehicle V1. The user UM can recognize the situation aroundthe target vehicle V1 with reference to the target vehicle informationGM including the panoramic image.

The panoramic image is obtained by projecting the captured images GFonto a projection model. The projection model can be preliminarilydefined. In this example, as illustrated in FIG. 6A, a projection modelM of a columnar body is employed, in which the ground surface (travelingsurface) of a vehicle is the bottom surface. Mapping information isprepared in advance for projecting the acquired captured images GF ontoprojection planes that are set on the side surfaces of the projectionmodel M of the columnar body. The mapping information is informationthat associates the coordinates of the captured images GF with thecoordinates of the model M. FIG. 6B is a schematic cross-sectional viewalong the xy plane of the projection model M illustrated in FIG. 6A.

The projection model M illustrated in FIGS. 6A and 6B is a regularoctagonal columnar body having a regular octagonal bottom surface and aheight along the vertical direction (z-axis direction in the figure).The shape of the projection model M is not limited and can also be acylindrical columnar body, a rectangular columnar body such as atriangular columnar body, a square columnar body, or a hexagonalcolumnar body, or a triangular columnar body having a polygonal bottomsurface and triangular side surfaces.

Projection surfaces Sa, Sb, Sc, and Sd (collectively referred to as aprojection surface S, hereinafter) are set on the inner side surfaces ofthe projection model M to project screen images around the targetvehicle V1 which is in contact with the bottom surface of the projectionmodel M. The captured image GF captured ahead of the target vehicle V1is projected onto the projection plane Sa located in the imagingdirection of the camera 51 a, the captured image GF captured on theright side of the target vehicle V1 is projected onto the projectionplane Sb located in the imaging direction of the camera 51 b, thecaptured image GF captured behind the target vehicle V1 is projectedonto the projection plane Sc located in the imaging direction of thecamera 51 c, and the captured image GF captured on the left side of thetarget vehicle V1 is projected onto the projection plane Sd located inthe imaging direction of the camera 51 d, The captured images GFprojected onto the projection model M are screen images that can be seenas if when looking around the passenger car V. FIG. 6C illustrates anexample of the target vehicle information GM displayed on the userterminal apparatus 300. Another projection plane S can be displayed byoperating the touch panel-type display 331 of the user terminalapparatus 300 to designate a virtual viewpoint.

The processor 10 generates the target vehicle information GM including athree-dimensional projection image obtained by projecting the capturedimages GF, which are captured by the plurality of the cameras 51 of thetarget vehicle V1, to three-dimensional coordinates. Thethree-dimensional projection image is an image in which the capturedimages GF captured by the plurality of cameras 51 arranged at respectivepositions of the front, rear, right, and left of the vehicle areconnected and projected to three-dimensional coordinates that are set tosurround the circumference of the vehicle. The three-dimensional imageincludes screen images of the entire circumferential area around thetarget vehicle V1. The user UM can recognize the situation around thetarget vehicle V1 with reference to the target vehicle information GMincluding the three-dimensional image.

The shape of the three-dimensional coordinate system is not limited.FIG. 7A illustrates an example of a three-dimensional coordinate systemM having a cylindrical shape. The three-dimensional coordinate system Mis set such that the target vehicle V1 is located on a plane GO that isset in the cylinder. FIG. 7B illustrates an example of a sphericalthree-dimensional coordinate system M. The three-dimensional coordinatesystem M is set such that the target vehicle V1 is located on a plane GOthat is set in the sphere. The shape of the three-dimensional coordinatesystem M as the projection model may be a bowl shape as disclosed inJP2012-138660A published by the Japan Patent Office. Mapping informationis prepared in advance for projecting the acquired captured images GFonto the projection plane of the three-dimensional coordinate system M.The mapping information is information that associates the coordinatesof the captured images GF with the coordinates of the three-dimensionalcoordinate system M.

The control procedure executed in the communication apparatus 100according to one or more embodiments of the present invention will bedescribed with reference to the flowchart of FIG. 8. The content of theprocess in each step is as described above, so the description will bemade with a central focus on the process flow.

In step S101, the processor 10 acquires the current position of thetarget vehicle V1. In step S102, the processor 10 acquires the capturedimage GF from a camera 51. When there is a plurality of cameras 51,identification information including the arrangement information of thecameras 51 (information on the positions at which the cameras 51 areprovided) is acquired together with the captured images GF. In stepS103, the processor 10 acquires the vehicle information such as thetraveling direction and speed of the target vehicle.

In step S104, the processor 10 determines whether it is theidentification timing. The identification timing is the timing at whicha determination is made that the current position of the target vehicleV1 belongs to the predetermined area R1 which is defined with referenceto the position of the boarding point PP. Alternatively, theidentification timing may be the timing at which a determination is madethat the current position of the target vehicle V1 belongs to thepredetermined area R1 which is a range of the predetermined distance D1from the boarding point PP. Alternatively, the identification timing maybe the timing at which a determination is made that the current positionof the target vehicle V1 belongs to the predetermined area R2 which is arange to which the passing point at the intersection CP closest to theboarding point PP belongs. Alternatively, the identification timing maybe the timing at which a request for the target vehicle information GMis received from the user UM.

In step S105, the processor 10 determines whether or not the targetvehicle V1 has arrived at the boarding point PP. The current position ofthe target vehicle V1 is compared with the boarding point PP designatedin the reservation made by the user UM, and when the difference issmaller than a predetermined value, a determination is made that thetarget vehicle V1 has arrived at the boarding point PP. On the otherhand, when the target vehicle V1 has not arrived at the boarding pointPP, the process proceeds to step S106.

In step S106, the processor 10 generates the target vehicle informationGM including the captured image GF in the traveling direction of thetarget vehicle V1 and transmits the generated target vehicle informationGM to the user terminal apparatus 300. The imaging direction may also bea direction in which the boarding point PP for the target vehicle V1 islocated. In step S107, the processor 10 determines whether or not thereis a characteristic object (a facility, a physical body, a user) aroundthe target vehicle V1. When there is a characteristic object, theprocess proceeds to step S108, in which the target vehicle informationGM is generated using the captured image GF including an image of theobject and the generated target vehicle information GM is transmitted tothe user terminal apparatus 300. The user UM is presented with thetarget vehicle information GM which includes the image of a facilitysuch as a shop SP or a station ST, the image of an object such asanother vehicle, a pedestrian, or a bicycle, or the image of the user UMwho has reserved the target vehicle V1. The user UM can know thetraveling direction of the target vehicle V1 with reference to thetarget vehicle information GM and can specify the target vehiclereserved by the user UM from among vehicles traveling toward theboarding point PP.

Referring again to step S105, when the target vehicle V1 has arrived atthe boarding point PP, the process proceeds to step S110. In step S110,the processor 10 generates the target vehicle information GM includingthe captured image GF in the right or left direction in which the userUM boards. The direction in which the user UM boards (the right or leftside in the vehicle width direction) is on the road shoulder side of thelane in which the target vehicle V1 travels. This information can bedetermined based on the road information 122 of the navigation device120. The road information 122 includes information as to whether theroad shoulder is located on the right or left side of the travelingdirection in the lane and information as to whether an adjacent lane islocated on the right or left side of the traveling direction in thelane. On the basis of the road information 122, the processor 10 candetermine whether the user UM can board the target vehicle V1 from theright or left direction with respect to the lane. The processor 10transmits, to a camera 51, an imaging instruction in which the imagingdirection is the direction for the user UM to board. The processor 10transmits the acquired target vehicle information GM to the userterminal apparatus 300. Then, the process proceeds to step S109, inwhich the processor 310 of the user terminal apparatus 300 displays thetarget vehicle information GM on the display 331.

The communication apparatus 100 according to one or more embodiments ofthe present invention is configured and operates as the above andtherefore exhibits the following effects.

(1) According to the communication method in one or more embodiments ofthe present invention, the processor 10 acquires the boarding point PPfor the user UM and the current position of the target vehicle V1 to bedispatched, and at the identification timing at which a determination ismade that the current position of the target vehicle V1 belongs to thepredetermined area R1 defined with reference to the position of theboarding point PP, the processor 10 generates the target vehicleinformation GM using the captured image or images captured by one ormore cameras 51 of the target vehicle V1. The processor 10 transmits thegenerated target vehicle information GM to the user terminal apparatus300 (second apparatus). The user terminal apparatus 300 displays thereceived target vehicle information GM on the display 311.

The identification timing is the timing at which the target vehicle(reserved vehicle) belongs to the predetermined area with reference tothe boarding point for the user, that is, the timing at which the userwho expects to use the target vehicle becomes aware of the location ofthe target vehicle. At this timing, the processor 10 generates thetarget vehicle information GM using the captured image GF indicating thesituation around the target vehicle and transmits the generated targetvehicle information to the user terminal apparatus 300. The userterminal apparatus 300 displays the target vehicle information GM on thedisplay 331. The user can recognize the target vehicle information GM atthe timing at which the user desires to confirm the location of thetarget vehicle. The target vehicle information GM in this case includesthe captured image GF indicating the surrounding situation at thattiming. Thus, the processor 10 allows the vehicle control apparatus 200(first apparatus), which includes the detection device 50, and the userterminal apparatus 300 (second apparatus) to exchange appropriateinformation at appropriate timing.

(2) According to the communication method in one or more embodiments ofthe present invention, at the identification timing at which adetermination is made that the current position of the target vehicle V1belongs to the predetermined area which is a range of the predetermineddistance D1 from the boarding point PP, the target vehicle informationGM is generated. The identification timing is set to the timing at whichthe target vehicle V1 enters the range of the predetermined distance D1from the boarding point PP, and the user UM can therefore recognize thetarget vehicle information GM at the timing at which the user UM desiresto confirm the location of the target vehicle V1 which has approachedthe boarding point PP (the reservation time is getting close). Thetarget vehicle information GM in this case includes the captured imageGF indicating the surrounding situation at that timing.

(3) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM at the identification timing at which a determination ismade that the current position of the target vehicle V1 belongs to thepredetermined area R2 that is a range to which the passing point AP atthe intersection CP closest to the boarding point PP belongs. The routefor the target vehicle V1 is calculated by the navigation device 120.The user UM is presented with the target vehicle information GM which isgenerated at the timing of passing through the intersection CP closestto the boarding point PP. The user UM can confirm the target vehicleinformation GM at the timing at which the user UM desires to confirm thelocation of the target vehicle V1. The target vehicle information GM inthis case includes the captured image GF indicating the surroundingsituation at that timing.

(4) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM at the identification timing at which the request for thetarget vehicle information GM is received from the user UM. The timingat which the user UM requests the target vehicle information GM is thetiming at which the user UM desires to positively confirm thelocation/situation of the target vehicle V1. The processor 10 generatesthe target vehicle information GM in response to the request from theuser UM and presents the target vehicle information GM to the user UM.The user UM can confirm the target vehicle information GM at the timingat which the user UM desires to confirm the location of the targetvehicle V1. The target vehicle information GM in this case includes thecaptured image GF indicating the surrounding situation at that timing.

(5) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM including the captured image GF in the travelingdirection of the target vehicle V1. The user UM who has designated theboarding point PP may have already recognized the situation around theboarding point PP. The user UM who has found the target vehicleinformation GM can estimate the traveling direction of the targetvehicle V1. On the basis of the traveling direction of the targetvehicle V1, a determination can be made as to from which direction thetarget vehicle V1 approaches the boarding point PP. This allows the userUM to specify the target vehicle V1 on which the user UM can board.

(6) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM using the captured image GF captured in the direction inwhich the boarding point PP is located with respect to the targetvehicle V1. The target vehicle V1 approaches the boarding point PP,which is a point designated by the user UM. The user UM is also movingtoward the boarding point PP. The user UM who has found the capturedimage GF in the direction toward the boarding point PP can determinefrom which direction the target vehicle V1 approaches the boarding pointPP. This allows the user UM to specify the target vehicle V1 on whichthe user UM can board.

(7) According to the communication method in one or more embodiments ofthe present invention, when the target vehicle V1 makes a stop in thevicinity of the boarding point PP, the processor 10 generates the targetvehicle information GM including the captured image GF in the right orleft direction in which the user UM boards and/or alights. The capturedimage GF on the left or right side of the target vehicle V1 located atthe boarding point PP is an image captured behind the user UM who isapproaching the target vehicle V1. The user UM can specify the targetvehicle V1 by comparing the situation behind the user UM with the targetvehicle information GM.

(8) According to the communication method in one or more embodiments ofthe present invention, the processor 10 refers to the facilityinformation 124 included in the map information 123 to search for afacility existing in the vicinity of the boarding point PP and generatesthe target vehicle information GM using the captured image GF in thedirection in which the facility is located with respect to the targetvehicle V1.

The user UM who has designated the boarding point PP may have alreadyknown facilities around the boarding point PP. When confirming thefacilities included in the target vehicle information GM, the user UMcan estimate the traveling direction of the target vehicle V1. On thebasis of the traveling direction of the target vehicle V1, the user UMcan estimate from which direction the target vehicle V1 approaches theboarding point PP. This allows the user UM to specify the target vehicleV1 which the user UM has reserved.

(9) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM using the captured image GF including the image of aphysical body. When the captured image GF includes the image of aphysical body, such as another vehicle, a pedestrian, or a bicycle,which the target vehicle V1 approaching the boarding point PP passeseach other, the target vehicle V1 can be specified based on thepositional relationship between the target vehicle V1 and the physicalbody. In particular, when the physical body is a moving body, thepositional relationship between the moving body (physical body) and thetarget vehicle V1 is limited in the timing, and the target vehicle V1can therefore be specified based on the captured image GF of the movingbody (physical body).

(10) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM using the captured image GF captured in a direction inwhich the user UM is located with respect to the target vehicle V1. Theprocessor 10 acquires the position information detected by the positiondetection device of the user terminal apparatus 300 as the position ofthe user UM. It is highly possible that the captured image GF in thedirection in which the user UM is located includes an image of the userUM. The user UM can determine the traveling direction of the targetvehicle V1 with reference to the captured image GF including the imageof the user UM and can specify the target vehicle V1.

(11) According to the communication method in one or more embodiments ofthe present invention, the processor 10 acquires a face image of theuser UM and generates the target vehicle information GM using thecaptured image GF including an image having a predetermined degree ofcoincidence with the face image of the user UM. The processor 10 makesmatching between the features of face information, which ispreliminarily registered by the user, and the features of a person'sface included in the captured image GF to determine the location of theuser UM. The target vehicle information GM is generated using thecaptured image GF including an image of the face of the user UM. Thetraveling direction of the target vehicle V1 can be determined withreference to the captured image GF including the face of the user UM,and the target vehicle V1 can be specified.

(12) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM including the imaging direction. The target vehicleinformation GM includes imaging direction information DS indicating theimaging direction. The target vehicle information GM includes theimaging direction information DS indicating the imaging direction withreference to the target vehicle V1, and the user UM can thereforedetermine the traveling direction of the target vehicle V1 to specifythe target vehicle V1.

(13) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM including an overhead image obtained by combining thecaptured images GF captured by a plurality of cameras 51 of the targetvehicle V1. The overhead image is an image in which the captured imagesGF captured by the plurality of cameras 51 arranged at respectivepositions of the front, rear, right, and left of the vehicle areconnected and the roof of the target vehicle V1 is viewed from a virtualviewpoint above. The overhead image includes screen images of the entirecircumferential area around the target vehicle V1. The user UM canrecognize the situation around the target vehicle V1 with reference tothe target vehicle information GM including the overhead image.

(14) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM including a panoramic image obtained by combining thecaptured images GF captured by a plurality of cameras 51 of the targetvehicle V1. The panoramic image is an image in which the captured imagesGF captured by the plurality of cameras 51 arranged at respectivepositions of the front, rear, right, and left of the vehicle areconnected and projected to coordinates that are set to surround thecircumference of the vehicle. The panoramic image includes screen imagesof the entire circumferential area around the target vehicle V1. Theuser UM can recognize the situation around the target vehicle V1 withreference to the target vehicle information GM including the panoramicimage.

(15) According to the communication method in one or more embodiments ofthe present invention, the processor 10 generates the target vehicleinformation GM including a three-dimensional projection image obtainedby projecting the captured images GF, which are captured by theplurality of the cameras 51 of the target vehicle V1, tothree-dimensional coordinates. The three-dimensional projection image isan image in which the captured images GF captured by the plurality ofcameras 51 arranged at respective positions of the front, rear, right,and left of the vehicle are connected and projected to three-dimensionalcoordinates that are set to surround the circumference of the vehicle.The three-dimensional image includes screen images of the entirecircumferential area around the target vehicle V1. The user UM canrecognize the situation around the target vehicle V1 with reference tothe target vehicle information GM including the three-dimensional image.

(16) The vehicle dispatch system 1 according to one or more embodimentsof the present invention exhibits similar actions and effects to thoseobtained in the above-described communication method.

Embodiments heretofore explained are described to facilitateunderstanding of the present invention and are not described to limitthe present invention. It is therefore intended that the elementsdisclosed in the above embodiments include all design changes andequivalents to fall within the technical scope of the present invention.

DESCRIPTION OF REFERENCE NUMERALS

1 Vehicle dispatch system 100 Communication apparatus 10 Processor 11CPU 12 ROM 13 RAM 20 Communication device 30 Output device 31 Display 32Speaker 200 Vehicle control apparatus 40 Communication device 50Detection device 51 Camera 52 Radar device 53 Microphone 60 Sensor 61Steering angle sensor 62 Vehicle speed sensor 70 Vehicle controller 71Processor 80 Driving device 81 Braking device 90 Steering device 110Output device 111 Display 112 Speaker 120 Navigation device 121 Positiondetection device 122 Road information 123 Map information 124 Facilityinformation 300 User terminal apparatus 310 Processor 311 CPU 312 ROM313 RAM 320 Communication device 330 Input/output device 331 Touchpanel-type display 332 Speaker

1. A communication method for a vehicle dispatch system comprising acommunication apparatus configured to control communication between afirst apparatus and a second apparatus, the first apparatus and thesecond apparatus being capable of information exchange with each other,the communication apparatus including a processor, the processoroperating to: acquire a position of a boarding point for a user and acurrent position of a target vehicle to be dispatched to the user; atidentification timing at which a determination is made that the currentposition of the target vehicle belongs to a predetermined area definedwith reference to the position of the boarding point, generate targetvehicle information using a captured image captured by one or morecameras of the target vehicle; and transmit the target vehicleinformation to the second apparatus, the second apparatus operating todisplay the received target vehicle information on a display.
 2. Thecommunication method according to claim 1, wherein the processoroperates to generate the target vehicle information at theidentification timing at which the determination is made that thecurrent position of the target vehicle belongs to the predeterminedarea, wherein the predetermined area is a range of a predetermineddistance from the boarding point.
 3. The communication method accordingto claim 1, wherein the processor operates to generate the targetvehicle information at the identification timing at which thedetermination is made that the current position of the target vehiclebelongs to the predetermined area, wherein the predetermined area is arange to which a passing point at an intersection closest to theboarding point belongs.
 4. The communication method according to claim1, wherein the processor operates to generate the target vehicleinformation at the identification timing at which a request for thetarget vehicle information is received from the user.
 5. Thecommunication method according to claim 1, wherein the processoroperates to generate the target vehicle information including thecaptured image in a traveling direction of the target vehicle.
 6. Thecommunication method according to claim 1, wherein the processoroperates to generate the target vehicle information using the capturedimage captured in a direction in which the boarding point is locatedwith respect to the target vehicle.
 7. The communication methodaccording to claim 1, wherein when the target vehicle makes a stop in avicinity of the boarding point, the processor operates to generate thetarget vehicle information including the captured image in a right orleft direction in which the user boards and/or alights.
 8. Thecommunication method according to claim 1, wherein the processoroperates to: refer to facility information included in map informationto search for a facility existing in a vicinity of the boarding point;and generate the target vehicle information using the captured image ina direction in which the facility is located with respect to the targetvehicle.
 9. The communication method according to claim 1, wherein theprocessor operates to generate the target vehicle information using thecaptured image including an image of a physical body.
 10. Thecommunication method according to claim 1, wherein the processoroperates to generate the target vehicle information using the capturedimage captured in a direction in which the user is located with respectto the target vehicle.
 11. The communication method according to claim1, wherein the processor operates to: acquire a face image of the user;and generate the target vehicle information using the captured imageincluding an image having a predetermined degree of coincidence with theface image.
 12. The communication method according to claim 1, whereinthe processor operates to generate the target vehicle informationincluding an imaging direction.
 13. The communication method accordingto claim 1, wherein the processor operates to generate the targetvehicle information including an overhead image obtained by combining aplurality of the captured images captured by a plurality of the camerasof the target vehicle.
 14. The communication method according to claim1, wherein the processor operates to generate the target vehicleinformation including a panoramic image obtained by combining aplurality of the captured images captured by a plurality of the camerasof the target vehicle.
 15. The communication method according to claim1, wherein the processor operates to generate the target vehicleinformation including an image obtained by projecting a plurality of thecaptured images captured by a plurality of the cameras of the targetvehicle to a three-dimensional coordinate system.
 16. A vehicle dispatchsystem comprising: a first apparatus capable of information exchangewith another apparatus; a second apparatus carried by a user; and acommunication apparatus configured to control communication between thefirst apparatus and the second apparatus, the communication apparatusincluding a processor, the processor operating to: acquire a position ofa boarding point for the user and a current position of a target vehicleto be dispatched to the user; at identification timing at which adetermination is made that the current position of the target vehiclebelongs to a predetermined area defined with reference to the positionof the boarding point, generate target vehicle information using acaptured image captured by one or more cameras of the target vehicle;and transmit the target vehicle information to the second apparatus, thesecond apparatus operating to display the received target vehicleinformation on a display.
 17. A communication apparatus comprising: aboarding point acquisition unit configured to acquire a position of aboarding point for a user; a vehicle information acquisition unitconfigured to acquire a current position of a target vehicle to bedispatched to the user and a captured image captured by one or morecameras of the target vehicle; a target vehicle information generationunit configured to generate target vehicle information using thecaptured image at identification timing at which a determination is madethat the current position of the target vehicle belongs to apredetermined area defined with reference to the position of theboarding point; and a communication control unit configured to performcontrol so as to transmit the target vehicle information to a userterminal.